Standing posture modeling and control for a humanoid robot
Ahmed, S.M. Chew, C.M. Tian, B.
Ahmed, S.M.
Tian, B.
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Abstract
This paper presents a novel approach employing nonlinear control for stabilization of standing posture for a humanoid robot using only hip joint. The robot is modeled as an acrobot where model parameters are estimated through adaptive algorithm. A 'non-collocated partial feedback' controller is applied. This is integrated with a linear feedback control, through LQR. Improved robustness to external push is demonstrated through evaluation in Webots simulator and on a physical humanoid robot, NUSBIP-III ASLAN. Performance comparison with other controllers verifies the effectiveness of the proposed control system. © 2013 IEEE.
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Source Title
IEEE International Conference on Intelligent Robots and Systems
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Date
2013
DOI
10.1109/IROS.2013.6696951
Type
Conference Paper